Appendix for the Motion Primitives-based Path Planning for Fast and Agile Exploration Method
Year: 2020
Type: preprint
Abstract: This manuscript presents enhancements on our motion-primitives exploration path planning method for agile exploration using aerial robots. The method now further integrates a global planning layer to facilitate reliable large-scale exploration. The implemented bifurcation between local and global planning allows for efficient exploration combined with the ability to plan within very large environments, while also ensuring safe and timely return-to-home. A new set of simulation studies and experimental results are presented to demonstrate the new improvements and enhancements. The method is available open source as a Robot Operating System (ROS) package.
Source: arXiv (Cornell University)
Institution: University of Nevada, Reno
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3112419654